WO2019144541A1 - Robot de nettoyage - Google Patents

Robot de nettoyage Download PDF

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Publication number
WO2019144541A1
WO2019144541A1 PCT/CN2018/088143 CN2018088143W WO2019144541A1 WO 2019144541 A1 WO2019144541 A1 WO 2019144541A1 CN 2018088143 W CN2018088143 W CN 2018088143W WO 2019144541 A1 WO2019144541 A1 WO 2019144541A1
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WO
WIPO (PCT)
Prior art keywords
cleaning robot
cleaning
obstacle
monocular camera
virtual area
Prior art date
Application number
PCT/CN2018/088143
Other languages
English (en)
Chinese (zh)
Inventor
张一茗
陈震
Original Assignee
速感科技（北京）有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 速感科技（北京）有限公司 filed Critical 速感科技（北京）有限公司
Publication of WO2019144541A1 publication Critical patent/WO2019144541A1/fr
Priority to US16/921,095 priority Critical patent/US11654574B2/en
Priority to US18/295,474 priority patent/US12042926B2/en
Priority to US18/738,524 priority patent/US20240326259A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/04—Viewing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
    • G05D1/249—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons from positioning sensors located off-board the vehicle, e.g. from cameras
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the invention relates to the field of artificial intelligence, and in particular to a cleaning robot.
  • cleaning robots have developed rapidly. The most important point for such robots is to achieve comprehensive and efficient cleaning of unknown environments. At present, most cleaning robots mainly have the following problems: First, the random cleaning mode of the usual cleaning robot often misses a large number of uncleaned areas, while the cleaned areas are often repeatedly cleaned, resulting in low cleaning efficiency; second, some New cleaning robots need to use expensive ranging equipment such as laser radar range finder or laser SLAM (Simultaneous Localization And Mapping) to map, locate and navigate in the actual work area. On the one hand, the cost of laser radar is relatively high. This increases the cost of the sweeper. On the other hand, the use of lidar increases the overall size and weight of the device due to the large size of the lidar.
  • ranging equipment such as laser radar range finder or laser SLAM (Simultaneous Localization And Mapping)
  • the invention provides a cleaning robot, which improves the positioning accuracy and the accuracy of drawing the cleaning robot by installing a monocular camera with a simple structure and an acute angle at the front of the cleaning robot, thereby improving the path planning/navigation effect and avoiding
  • the low efficiency of the random cleaning mode also improves the recognition effect and obstacle avoidance effect on the object, and can achieve efficient cleaning at low cost; and can realize functions such as object recognition, face recognition, real-time monitoring, security monitoring, etc.
  • the application field of cleaning robots improves the positioning accuracy and the accuracy of drawing the cleaning robot by installing a monocular camera with a simple structure and an acute angle at the front of the cleaning robot, thereby improving the path planning/navigation effect and avoiding
  • the low efficiency of the random cleaning mode also improves the recognition effect and obstacle avoidance effect on the object, and can achieve efficient cleaning at low cost; and can realize functions such as object recognition, face recognition, real-time monitoring, security monitoring, etc.
  • a cleaning robot of the present invention includes: a motion unit, a motion sensor, a monocular camera, a storage unit, a data processing unit, a cleaning unit, a power module, a housing; the motion unit is for moving; the motion sensor is used for Obtaining a motion parameter during movement of the cleaning robot; the monocular camera is configured to capture an image; the monocular camera is disposed in a slope surface located obliquely upward in a forward motion direction at a front end of the outer casing, and the slope is The direction of the monocular camera is at an acute angle to the direction of forward movement of the cleaning robot; the storage unit is coupled to the data processing unit for storing data; and the data processing unit is configured to acquire a monocular camera The captured image, and the motion parameters of the motion sensor, and the positioning of the cleaning robot according to the positioning and mapping algorithm, establishing a map, planning a route, and controlling the motion unit to operate according to the planned route; the cleaning unit is used to clean the ground.
  • a protective edge that is higher than the protrusion of the slope is provided at the periphery of the slope.
  • the monocular camera is rotatable in a plane formed by the direction of the monocular camera and the direction of forward motion.
  • a communication module is further included, and the communication module can be wirelessly connected to the server, and the data processing unit sends data or commands to the server through the communication module, and/or acquires information of the server through the communication module.
  • the communication module may be wirelessly connected to the user terminal device, the data processing unit receiving a command of the user terminal device through the communication module; and/or the data processing unit is provided to the user through the communication module
  • the terminal device sends a message.
  • a microphone and/or a speaker may also be included; the microphone acquires a voice control command and sends it to the data processing unit; the speaker transmits the information outward.
  • the slope surface covers the light transmissive material.
  • the light transmissive material may be one or more of GPPS, transparent ABS, AS, PMMA, PC, PS.
  • the direction of the monocular camera coincides with a normal direction of the slope surface
  • the angle ⁇ of the direction of the monocular camera and the direction of forward movement of the cleaning robot ranges from 30 ⁇ 90°;
  • the monocular camera has a vertical field of view ranging from 50[deg.] to 100[deg.].
  • the positioning and mapping algorithm comprises:
  • the motion parameter of the cleaning robot when the motion sensor captures the at least two images the displacement and posture of the cleaning robot are calculated, and the position of the cleaning robot when each image is captured is calculated, and the positioning of the cleaning robot is realized.
  • a collision sensor is further disposed, the collision sensor is disposed at a front end of the cleaning robot, and transmits a collision signal to the data processing unit when the obstacle is collided;
  • the positioning and mapping algorithm further includes:
  • the position of the obstacle is determined according to the collision signal of the collision sensor and the position of the collision moment of the cleaning robot;
  • a map in the work area is established to realize the construction of the work area.
  • a distance sensor may be further included, and when the distance sensor detects an obstacle, the relative position of the obstacle relative to the cleaning robot is sent to the data processing unit;
  • the positioning and mapping algorithm may further include:
  • a map in the work area is established to realize the construction of the work area.
  • the positioning and mapping algorithm may further include:
  • the cleaning robot is disposed inside the virtual area or on a virtual area boundary, and the virtual area is set by a preset instruction for controlling a moving distance and a rotation angle of the cleaning robot, wherein the instruction causes the cleaning robot to An enclosed space enclosed by a running track running in the actual working area constitutes the virtual area;
  • the process of controlling the cleaning robot to clean the virtual area inside the actual working area comprises:
  • the cleaning robot is controlled to turn to the preset steering and run along the edge of the obstacle, and the calculation is performed in real time.
  • the process of cleaning the interior of the enclosed space may include:
  • S510 controlling the cleaning robot to run in the first cleaning direction inside the virtual area to meet the boundary of the virtual area or the boundary of the cleaned area;
  • S520 Control the cleaning robot to turn to the first steering direction to the first offset direction that is the same as the boundary direction of the encounter, continue to run the first offset length, and turn to the first steering to be parallel and opposite to the first cleaning direction.
  • S530 controlling the cleaning robot to run in the second cleaning direction inside the virtual area to meet the boundary of the virtual area or the boundary of the cleaned area;
  • S540 controlling the cleaning robot to turn to the second steering direction to continue to run the second offset length in the second offset direction that is the same as the intersecting boundary direction, and turn to the second steering direction to the first cleaning direction;
  • Steps S510 to S540 are repeated until the trace of the cleaning robot traverses the operable area in the virtual area.
  • the first offset length and/or the second offset length are substantially the width of the cleaning unit.
  • the cleaning robot is controlled to run along the edge of the obstacle, and the trajectory running along the edge of the obstacle is calculated in real time in the current cleaning direction.
  • the projection length on the vertical line when the projection length is equal to the third offset length, the control cleaning robot is turned to the cleaning direction opposite to the current cleaning direction to continue the operation, and when the projection length is equal to 0, the control cleaning robot is turned to the current cleaning direction. Keep running.
  • the positioning and mapping algorithm may further include:
  • the extended virtual area is sequentially cleaned in sequence.
  • the sequentially cleaning the other extended virtual areas in sequence is determined according to the distance between the current position of the cleaning virtual robot and the other extended virtual areas after cleaning the current virtual area, and determining the next extended virtual area to be cleaned.
  • the instruction may include: 1) starting the cleaning robot with the current position as the starting position, controlling the cleaning robot to run the first preset length in the current direction; 2) steering the preset steering; 3) operating the second pre-direction in the current direction Set the length; 4) turn to the preset steering; 5) run the first preset length in the current direction; 6) turn to the preset steering; 7) continue to run the second preset length in the current direction back to the starting position.
  • the invention installs a monocular camera with a simple structure and an acute angle at an oblique angle on the front end of the cleaning robot, thereby avoiding the problem of difficult positioning and drawing caused by less information on the ceiling, and providing an image of the object in front of the moving direction in one image.
  • the characteristics of the ceiling are used as fixed reference objects, which improves the accuracy of positioning and mapping of the cleaning robot, thereby improving the path planning/navigation effect, avoiding the inefficiency of the random cleaning mode, and improving the recognition effect on the object and
  • the obstacle avoidance effect enables efficient cleaning at low cost; and it can realize functions such as object recognition, face recognition, real-time monitoring, security monitoring, etc., and expands the application field of cleaning robots.
  • 1a is a schematic view of a cleaning robot according to an embodiment of the present invention.
  • FIG. 1b is a schematic diagram showing the arrangement of a monocular camera according to an embodiment of the present invention.
  • Figure 1c is an external structural view of an embodiment of the present invention.
  • Figure 1d is a structural view of the appearance of an embodiment of the present invention.
  • FIG. 2 is a schematic view showing the combination of a cleaning robot structure according to various embodiments of the present invention.
  • 3a is a flow chart of a positioning and mapping algorithm of a cleaning robot according to an embodiment of the present invention
  • 3c is a schematic diagram of a path in a positioning and mapping algorithm of a cleaning robot according to an embodiment of the present invention
  • the motion unit is used for movement.
  • the specific form of the motion unit may be a wheel or a track, and of course other forms capable of carrying an object, such as a motion unit in the form of a magnetic levitation or a propeller.
  • the present invention does not limit the specific form of the motion unit.
  • the motion sensor is configured to acquire motion parameters during the movement of the cleaning robot.
  • the motion sensor includes an odometer, an IMU (the IMU is an abbreviation of the inertial measurement unit, usually including a gyroscope and an accelerometer), and the like, and a sensor for obtaining a motion parameter, or a variety of displacement sensors (such as a resistive displacement sensor, an inductive displacement). Sensors, capacitive displacement sensors, strain gauge displacement sensors, Hall-type displacement sensors, etc.).
  • Various motion sensors can measure or calculate one or more motion parameters such as distance, displacement, angle, acceleration, etc. according to their characteristics.
  • the slope "located at the front end of the casing” means that the slope is located at the front end of the outer casing of the cleaning robot in the direction of its forward movement, as shown in Figs. 1a to 1d.
  • the "forward movement direction” refers to the forward movement direction of the cleaning robot;
  • the "front end” refers to the front end of the cleaning robot in the forward movement direction.
  • the slope surface "inclined upward in the direction of the forward motion” means that the normal direction of the slope surface is at an acute angle to the forward motion direction of the cleaning robot ( ⁇ angle in FIG. 1b, 0° ⁇ 90°) .
  • the monocular camera is set to be "substantially in the same direction as the slope", and the optical axis direction of the monocular camera (ie, the direction of the monocular camera, as shown in FIG. 1b) and the slope method are
  • the angle between the line directions i.e., the angle ⁇ in Fig. 1b
  • ⁇ 0 the direction of the monocular camera, substantially coincides with the normal direction of the slope.
  • the direction of the monocular camera is at an acute angle to the direction of forward motion of the cleaning robot (i.e., the angle ⁇ in Figure 1b, also referred to as the elevation angle of the monocular camera in the present invention; 0° ⁇ ⁇ ⁇ 90°).
  • the above description essentially illustrates that a diagonally upward and forward monocular camera is provided in the outer casing of the front end of the cleaning robot in the forward direction of motion, as shown in FIG. 1c, and there is a monocular camera above the lens of the monocular camera.
  • the optical axis is generally transparent in the same direction as the slope. This arrangement allows light to be imaged on the monocular camera through the transparent slope, causing the monocular camera to capture an image of the scene information including the ceiling above the cleaning robot's heading direction and the front scene information.
  • Some Sweepers of the prior art are cameras that are vertically arranged at the top of the Sweeper.
  • One problem with such Sweepers is that cameras that are vertically oriented generally can only capture scene images of the ceiling in the house, and most of the ceilings in the house are Simpler features, fewer feature points (such as pure white ceilings, or ceilings with simple grid patterns), which allows the sweeper to acquire fewer feature points, which may not be sufficient for accurate positioning and mapping.
  • the characteristics of the scene are used as a reference (most of the scenes of the ceiling are fixed, although the features are small, it can provide reference), and it is judged whether the front scene moves or not, thereby avoiding the construction of the cleaning robot and the positioning and positioning of the cleaning robot. Navigation interference. Therefore, the cleaning robot of the present invention can avoid the problem of difficulty in positioning and drawing caused by the lesser feature information on the ceiling, and also provides the static scene feature of the ceiling as a fixed reference for the cleaning robot in the same image to determine the forward motion. Whether the scene in front of the direction has moved.
  • the monocular camera is coupled to the data processing unit to transmit the captured image to the data processing unit.
  • the invention does not limit the type of the camera, and may be a standard camera, a wide-angle camera, a fisheye camera or other various types of cameras; the image of the acquired scene may be an image under visible light or an image under infrared light, and the invention The type of camera is not limited.
  • the storage unit is coupled to the data processing unit for storing data.
  • the stored data includes, but is not limited to, various types of sensor data (the sensor data includes motion parameters of distance, displacement, angle, acceleration, etc. acquired by the motion sensor during motion of the motion unit, and images captured by the monocular camera). It can also include other sensors (such as collision sensors, laser radar, ultrasonic, TOF (time of flight sensors), infrared distance sensors, proximity sensors, cliff sensors, etc.) to acquire, calculate, and generate data), and intermediate data for data processing unit operations. , new or dumped map data and/or maps, etc.
  • the present invention does not impose any restrictions on the type, use, and source of data stored by the storage unit.
  • the data processing unit is configured to acquire an image captured by the monocular camera and motion parameters of the motion sensor, and locate the cleaning robot according to the positioning and mapping algorithm, establish a map, plan a route, and control the motion unit according to the plan.
  • the route runs.
  • the data processing unit can also perform optimization maps, map corrections, loop detection, and the like.
  • the data, information, and program may be acquired from the storage unit as needed, and the obtained data, information, and intermediate files are stored in the storage unit. .
  • the present invention does not limit the acquisition/storage of various types of data/information between the data processing unit and the storage unit.
  • the chassis of the cleaning robot includes a motion unit (such as a wheel), a motion sensor (such as an odometer), and a data processing unit (such as a processor such as an MCU or a DSP), so that the chassis as a device component is functionally used in the present invention. It is divided into multiple functional units.
  • a motion unit such as a wheel
  • a motion sensor such as an odometer
  • a data processing unit such as a processor such as an MCU or a DSP
  • the outer casing may house the above-mentioned various components and functional units of the cleaning robot, as shown in FIG. 1a; or one or more of the motion unit, the cleaning unit, and the motion sensor may not be accommodated or fully accommodated.
  • a cleaning robot provides a protective edge above the slope surface at a periphery of the slope surface to protect the slope surface, thereby protecting the monocular camera, as shown in FIG. 1d. Shown. Since the cleaning robot in which the collision sensor is mounted usually detects the obstacle in front by collision, the position of the obstacle is determined, and the collision increases the risk of the monocular camera being damaged, since the protection edge is higher and higher than the slope, In the event of a collision, the protective edge collides with the slope to protect the slope and protect the monocular camera under the slope from being damaged by the front obstacle.
  • the change angle of the elevation angle ⁇ should be within the light transmission range of the slope surface, so that the monocular camera can obtain better transmittance; in one embodiment, the change of the elevation angle ⁇ makes the direction and position of the monocular camera
  • the angle between the normal directions of the slopes i.e., the angle a in Figure 1b is always maintained in the range of less than 45°.
  • the elevation angle ⁇ can also be set to reciprocate (or be referred to as scanning) at a certain frequency during the operation of the cleaning robot to increase the range of scanning.
  • the frequency can be matched to the speed of movement of the cleaning robot such that at least a portion of the same feature of the same scene can be scanned in multiple scans for subsequent positioning based on features of the same scene. Accordingly, in the image processing process, these same features are extracted and calculated in the scanned image of the same feature including the same scene according to the scanning frequency and the moving speed of the cleaning robot, thereby positioning the cleaning robot.
  • the direction of the monocular camera of the cleaning robot can also reciprocate in a horizontal direction at a certain frequency during the working process of the cleaning robot (or horizontal scanning; the horizontal direction is the moving plane of the cleaning robot), and obtain more horizontal directions.
  • Scenery information can also reciprocate in a horizontal direction at a certain frequency during the working process of the cleaning robot (or horizontal scanning; the horizontal direction is the moving plane of the cleaning robot), and obtain more horizontal directions.
  • a cleaning robot further includes a communication module (such as a WiFi module), and the communication module is wirelessly connected to the server, as shown in FIG. 2.
  • a communication module such as a WiFi module
  • FIG. 2 includes various components such as a sensor, a microphone, a speaker, a server, a user terminal device, and a communication module, it does not mean that the components included in FIG. 2 must be in the same embodiment. These components can be used individually or in combination with each other as needed.
  • the data processing unit transmits data or commands to the server through the communication module, and/or acquires information of the server through the communication module.
  • the captured image, the calculated self-positioning data, and the like are sent to the server for calculation, and the map and path plan established after the operation are downloaded from the server to the cleaning robot through the communication module; or the data processing unit of the cleaning robot is completed. Positioning, drawing operations, and planning the path, and only storing some setting information, historical information, and/or map information and data on the server.
  • the present invention does not limit the allocation of data and functions stored between the storage unit and the data processing unit of the server and the cleaning robot.
  • a cleaning robot further includes a communication module, and the communication module is wirelessly connected to a user terminal device (such as a mobile phone, a computer, a pad), as shown in FIG. 2 .
  • the data processing unit receives a command of the user terminal device through the communication module; and/or the data processing unit transmits information (which may be sound, image, and/or text information) to the user terminal device through the communication module.
  • the command may include a query command of the user terminal device, a control command (such as a switch cleaning robot, selecting a cleaning mode, etc.), and the like.
  • the present invention does not limit the commands that the cleaning robot receives from the user terminal device and the information transmitted to the user terminal device.
  • the cleaning robot may include only the user terminal device without including the server of the previous embodiment, or may include the server at the same time.
  • the communication module can separately send/receive data/information corresponding to the two components with the user terminal device and the server, or can be the communication module, the user terminal device, and the server. Transmit, calculate, analyze, and integrate data/information as a whole.
  • a cleaning robot further includes a microphone and/or a speaker, as shown in FIG.
  • the microphone acquires a voice control command and sends it to the data processing unit.
  • the relevant control command is executed according to the matching result; in some embodiments, in order to save the local computing power of the cleaning robot, the data processing unit may also be translated.
  • the code is sent by the communication module to the server and/or the user terminal device through the wireless network for matching, and the matching result is sent back to the cleaning robot to execute the relevant control command.
  • the voice control command may include various commands such as a query command, a switch cleaning robot, and a cleaning mode.
  • the speaker sends out information, such as an alarm clock, a schedule reminder, a plan reminder, an alarm notification, a cleaning robot failure notification, a cleaning robot information notification (such as "cleaned designated area", “charge notification”), and the like.
  • information such as an alarm clock, a schedule reminder, a plan reminder, an alarm notification, a cleaning robot failure notification, a cleaning robot information notification (such as "cleaned designated area", “charge notification”), and the like.
  • the slope surface is covered with a light-transmitting material, such as glass or a highly translucent plastic, so that the monocular camera can obtain clear and bright images from the outside through the light-transmitting material, and simultaneously The camera can also protect against dust and collision.
  • a light-transmitting material such as glass or a highly translucent plastic
  • the monocular camera can obtain clear and bright images from the outside through the light-transmitting material, and simultaneously The camera can also protect against dust and collision.
  • Optional plastic light-transmissive materials are GPPS, transparent ABS, AS, PMMA, PC, PS.
  • the PMMA acrylic material has a light transmittance of 92% to 95%, which is larger than that of ordinary glass (about 80%).
  • a higher-strength light-transmissive film such as a polyvinyl chloride or a polyethylene film can also be selected.
  • the invention does not limit the light-transmitting material.
  • the direction of the monocular camera coincides with the normal direction of the slope surface, so that the maximum transmittance can be obtained, and the image captured by the monocular camera is the clearest.
  • the monocular camera has a vertical angle of view ranging from 50° to 100°, that is, a wide-angle lens as a monocular camera.
  • a wide-angle lens image distortion can be reduced and image distortion can be reduced with as much information as possible.
  • the use of a fisheye lens with a larger vertical field of view (with a vertical field of view of up to 180°) increases image distortion. Therefore, it is necessary to select a suitable lens as a monocular camera according to the needs and functions to be realized.
  • the positioning and mapping algorithm includes: identifying feature information in at least two images captured by the monocular camera; and cleaning the robot when the at least two images are captured according to the motion sensor
  • the motion parameters are calculated to obtain the displacement and attitude of the cleaning robot, and the position of the cleaning robot is calculated when each image is taken to realize the positioning of the cleaning robot.
  • the main function of the monocular camera is to locate, that is, to determine the position of the cleaning robot itself.
  • the monocular camera also has functions of recognizing objects, recognizing people, and identifying scenes.
  • a cleaning robot further includes a distance sensor (such as an infrared ranging sensor, an ultrasonic ranging sensor, a PSD sensor, a TOF (Time of Flight) ranging sensor, etc.), as shown in FIG.
  • a distance sensor such as an infrared ranging sensor, an ultrasonic ranging sensor, a PSD sensor, a TOF (Time of Flight) ranging sensor, etc.
  • the distance sensor detects an obstacle
  • the relative position of the obstacle relative to the cleaning robot (which can be calculated from the relative distance and relative angle of the obstacle to the cleaning robot) is sent to the data processing unit.
  • the positioning and mapping algorithm further includes: a position of the cleaning robot according to the relative position of the obstacle sent by the distance sensor and the distance sensor obtaining the relative position of the obstacle (ie, the coordinates of the cleaning robot at the moment, To determine the position of the cleaning robot, for example, the starting point of the cleaning robot is taken as the origin, the direction of the forward movement of the cleaning robot is the x-axis, and the x-axis is rotated counterclockwise by 90° around the origin to form a rectangular coordinate system of the y-axis; At some point, the coordinates of the cleaning robot in the two-dimensional coordinate system represent the position of the cleaning robot at this time.
  • the position of the obstacle is determined (again, the position of the obstacle is the coordinate of the obstacle in the coordinate system of the cleaning robot described above); the position of the obstacle according to the determination , to establish a map within the work area, to achieve the construction of the work area.
  • Step S100 setting a virtual area, and setting a cleaning robot on the inside of the virtual area or on the boundary of the virtual area, the virtual area being set by a preset instruction for controlling the movement distance and the rotation angle of the cleaning robot, the command making The enclosed space enclosed by the running track of the cleaning robot running in the actual working area constitutes the virtual area.
  • step S200 the cleaning robot is controlled to clean the virtual area inside the actual working area.
  • step S100 will be described below by way of example, but those skilled in the art should understand that other instructions can be used to make the virtual space of the closed space enclosed by the running track of the cleaning robot running in the actual working area, so the The examples should not be construed as limiting the invention.
  • the command for controlling the movement distance and the rotation angle of the cleaning robot can be: 1) starting the cleaning robot with the current position as the starting position, and controlling the cleaning robot to run the first preset length in the current direction (measured by the odometer on the cleaning robot) , as shown in Figure 3b, point a to point b; 2) steering preset steering (preset steering includes both the direction of rotation and the angle of rotation, in this case 90 degrees counterclockwise with reference to the current direction of the cleaning robot); 3) Run the second preset length in the current direction, as in point b to point c in Figure 3b; 4) turn to the preset steering (in this example, still rotate counterclockwise by 90°); 5) run in the current direction.
  • the instructions cause the closed space (i.e., the rectangle abcd) enclosed by the running track of the cleaning robot to operate in the actual working area to constitute the virtual area.
  • the first preset length and the second preset length are not limited, and can be set according to requirements.
  • the preset steering includes both the rotation direction and the rotation angle, and may be a left turn or a right turn. The angle of each turn may be set as needed, which is not limited by the present invention.
  • the first preset length is 6m
  • the second preset length is 4m
  • the preset steering is left turn
  • the steering angle is 90°
  • the closed space obtained by the instruction to control the movement distance and the rotation angle of the cleaning robot is as shown in FIG. 3b. Show.
  • the cleaning robot encounters an obstacle when dividing the virtual area (ie, encounters an obstacle in the process of executing the control of the movement distance and the rotation angle of the cleaning robot to obtain a closed space), then controlling The operation logic for obscuring obstacles is added to the instruction to clean the robot's movement distance and rotation angle.
  • the operation logic for obscuring obstacles is added to the instruction to clean the robot's movement distance and rotation angle.
  • the cleaning robot is controlled to turn to the preset steering after encountering an obstacle ( In this example, it is rotated 90° counterclockwise and runs along the edge of the obstacle (can be close to the edge of the obstacle, or it can maintain a constant distance or a certain distance from the edge of the obstacle; in this case, the cleaning robot From the c1 point to the c2 point to the c3 point trajectory), the projection length of the trajectory running along the obstacle edge in the current direction before the obstacle (ie, from the b point to the c1 point) is calculated in real time.
  • an obstacle In this example, it is rotated 90° counterclockwise and runs along the edge of the obstacle (can be close to the edge of the obstacle, or it can maintain a constant distance or a certain distance from the edge of the obstacle; in this case, the cleaning robot From the c1 point to the c2 point to the c3 point trajectory), the projection length of the trajectory running along the obstacle edge in the current direction before the obstacle (ie, from the b point to the c1 point)
  • controlling the cleaning robot to clean the virtual area inside the actual working area in the above step S200 includes:
  • Step S210 executing the instruction to control the movement distance and the rotation angle of the cleaning robot to obtain a closed space, and the boundary of the closed space can be regarded as a boundary of the virtual area.
  • the process of executing the command is described in the previous embodiment, and is not described herein again.
  • the present invention does not limit the shape of the closed space set by the command.
  • step S220 the inside of the closed space is cleaned.
  • control cleaning robot cleans the interior of the enclosed space by using a bow-shaped cleaning method, as shown in FIG. 3e, including:
  • the first cleaning direction may be determined according to the direction of the boundary where the current position of the cleaning robot is located, which is not specifically limited in the present invention.
  • the cleaning robot can also be controlled to run to one end of any boundary in the virtual area.
  • the cleaning robot is controlled to run to the nearest end of the closest boundary of the current position of the cleaning robot.
  • S520 Control the cleaning robot to turn to the first steering direction to the first offset direction that is the same as the boundary direction of the encounter, continue to run the first offset length, and turn to the first steering to be parallel and opposite to the first cleaning direction.
  • the second cleaning direction Control the cleaning robot to turn to the first steering direction to the first offset direction that is the same as the boundary direction of the encounter, continue to run the first offset length, and turn to the first steering to be parallel and opposite to the first cleaning direction.
  • the first steering and the second steering both include a rotation direction and a rotation angle.
  • the first steering may be a left turn or a right turn, and the specific steering direction and steering angle are preset by a program or determined according to a distribution characteristic of the virtual area.
  • the first offset length is a projected length of the running trajectory along the first offset direction on a perpendicular line in the first cleaning direction.
  • the first offset length and the second offset length are generally the main brush width, preferably 10 cm to 15 cm, which enables the cleaning robot to avoid missing uncleaned areas during cleaning in adjacent cleaning directions during the cleaning process.
  • S530 Control the cleaning robot to run in the second cleaning direction inside the virtual area to meet the boundary of the virtual area or the boundary of the cleaned area.
  • S540 Control the cleaning robot to turn to the second steering direction to continue to run the second offset length in the second offset direction that is the same as the boundary direction of the encounter, and turn to the second steering direction to the second cleaning direction.
  • the second steering is opposite to the first steering, and the first offset direction and the second offset direction may be the same or different, but the first offset direction and the second offset direction are in a direction perpendicular to the cleaning direction. the same.
  • the first offset length is the same as the second offset length
  • the first offset length is a projection length of the running track in the first offset direction on the perpendicular line in the first cleaning direction
  • the second offset length is along the second The projection length of the offset direction running track on the vertical line in the second cleaning direction.
  • the cleaning robot encounters an obstacle while running in the current cleaning direction in the virtual area, the cleaning robot is controlled to run along the edge of the obstacle, and the trajectory running along the edge of the obstacle is calculated in real time on the vertical line of the current cleaning direction.
  • the projection length when the projection length is equal to the third offset length, controls the cleaning robot to turn to the cleaning direction opposite to the current cleaning direction to continue running, and when the projection length is equal to 0, the control cleaning robot is turned to the current cleaning direction to continue the operation.
  • Step S300 dividing the area other than the virtual area in the actual working area according to the virtual area to obtain a plurality of extended virtual areas.
  • Step S400 sequentially cleans the other extended virtual areas in sequence, and determines the next extended virtual area to be cleaned according to the distance between the current position and the other extended virtual areas after the cleaning robot cleans the current virtual area.
  • the cleaning robot cleans the current virtual area (including the current extended virtual area)
  • the extended virtual area closest to the current position of the cleaning robot is set as the next extended virtual area to be cleaned.
  • the cleaning robot of the invention increases the type of features in the captured image by installing a monocular camera with a simple structure and an acute angle at the front of the cleaning robot, thereby improving the accuracy of positioning and mapping of the cleaning robot, thereby improving the path.
  • the planning/navigation effect avoids the inefficiency of the random cleaning mode, and also improves the recognition effect and obstacle avoidance effect on the object, enables efficient cleaning at low cost, and realizes object recognition, face recognition, real-time monitoring, Security monitoring and other functions expand the application field of cleaning robots.
  • the cleaning robot of the invention also has a positioning and mapping algorithm, which can divide the actual working area into a plurality of virtual areas covering the entire working area without the initial map, and cooperate with the image acquired by the monocular camera, in turn The method of cleaning the inside of each virtual area achieves efficient cleaning of unknown areas.

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  • Automation & Control Theory (AREA)
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  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract

L'invention concerne un robot de nettoyage, comprenant une unité de mouvement, un capteur de mouvement, une caméra monoculaire, une unité de stockage, une unité de traitement de données, une unité de nettoyage et un boîtier. Le capteur de mouvement obtient un paramètre de mouvement du robot de nettoyage pendant un processus de mouvement. La caméra monoculaire est utilisée pour photographier une image. La caméra monoculaire est disposée dans une pente située sur l'extrémité avant du boîtier et s'inclinant vers le haut le long d'une direction de mouvement vers l'avant, et est approximativement dans la même direction que la pente. La direction de la caméra monoculaire forme un angle aigu avec la direction de mouvement vers l'avant du robot de nettoyage. L'unité de traitement de données est utilisée pour obtenir l'image photographiée par la caméra monoculaire et le paramètre de mouvement du capteur de mouvement, effectuer un positionnement, une création de carte et une planification d'itinéraire sur le robot de nettoyage, et commander le fonctionnement de l'unité de mouvement selon un itinéraire planifié. Au moyen de la caméra monoculaire ayant une structure de montage simple et un pas aigu, le robot de nettoyage améliore la précision de positionnement et de création de carte de celui-ci, en améliorant ainsi l'effet de navigation/planification d'itinéraire.
PCT/CN2018/088143 2018-01-24 2018-05-24 Robot de nettoyage WO2019144541A1 (fr)

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US16/921,095 US11654574B2 (en) 2018-01-24 2020-07-06 Cleaning robot
US18/295,474 US12042926B2 (en) 2018-01-24 2023-04-04 Cleaning robot
US18/738,524 US20240326259A1 (en) 2018-01-24 2024-06-10 Cleaning robot

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CN201810067512.8A CN108247647B (zh) 2018-01-24 2018-01-24 一种清洁机器人

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